抄録
This paper describes the results of experiments conducted focusing on the influence of the grasping position of the object to be inspected on the results of vibration inspection using a robot hand. In the experiments, pairs of plastic blocks fastened with screws were prepared as inspection objects, which were grasped and vibrated, and the signals obtained from the sensors installed on the robot hand were analyzed. The signals obtained were of two types, force and moment, and each was discussed. As a result, the characteristics of each condition were obtained, and it was confirmed that the grasping position of the object has a strong influence on the results when the robot hand is used for vibration inspection. In addition, it was discussed that the force and moment signals observed by the sensor seems to vary greatly depending on the mass and shape of the object to be grasped, and that the equipment used for the inspection may have vibrated or prevented the observation of the influence of the collision force when the object was rattled. From these results, it is discussed necessary to set optimal inspection conditions such as the grasping position for each part and to discuss the influence of the equipment when conducting vibration inspection. It was also discussed that the optimal grasping position is one that mitigates the influence of centrifugal and inertial forces that may be generated during vibration.
